ON THE SINGULARITY-FREE WORKSPACE OF A PARALLEL ROBOT FOR LOWER-LIMB REHABILITATION

被引：0

作者：

Gherman, Bogdan ^{[1
]}

Birlescu, Iosif ^{[1
]}

Plitea, Nicolae ^{[1
]}

Carbone, Giuseppe ^{[1
,2
]}

Tarnita, Daniela ^{[3
]}

Pisla, Doina ^{[1
]}

机构：

[1] Tech Univ Cluj Napoca, CESTER, B Dul Muncii 103-105, Cluj Napoca 400641, Romania

[2] Univ Calabria, DIMEG, Via Bucci,Cubo 46C, I-87036 Arcavacata Di Rende, Cs, Italy

[3] Univ Craiova, Alexandru Ioan Cuza 13, Craiova 200585, Romania

来源：

PROCEEDINGS OF THE ROMANIAN ACADEMY SERIES A-MATHEMATICS PHYSICS TECHNICAL SCIENCES INFORMATION SCIENCE | 2019年 / 20卷 / 04期

关键词：

parallel robot; medical rehabilitation; singularity; workspace; STROKE; SYSTEM;

D O I：

暂无

中图分类号：

O [数理科学和化学]; P [天文学、地球科学]; Q [生物科学]; N [自然科学总论];

学科分类号：

07 ; 0710 ; 09 ;

摘要：

The paper presents the workspace determination of RECOVER, a parallel robotic system designed for lower limb rehabilitation. The kinematic model was formulated to achieve a direct correlation between the active joints of the robot and the anatomic joint angles. The singularities of the robotic system are analysed with respect to the medical task and anatomical constraints, showing that the robot task orientated workspace is singularity-free. Experimentally measured data regarding the gait cycle are compared with numerical simulations, showing the feasibility of the RECOVER parallel robotic system for gait rehabilitation.

引用

页码：383 / 391

页数：9

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